Fabrication and modelling of a robot arm
Tutor / Supervisor
Student
Zubiri Carrizosa, Alberto
Document type
Master thesis
Date
2020
rights
Open Access
Publisher
Universitat Politècnica de Catalunya
UPCommons
Abstract
The goal of this project is the fabrication and modelling of a robotic arm . The build robot is obtained by printing its mechanical elements that are obtained by modifying a readily available template. A CAD program has been used to modify the template. Then, a G-Code generator was used to obtain the instructions for the 3D printer operation. Although only one robot has been fabricated, two have been analysed in this document. This Project is the first TFM for the current strategic plan of biorobotics in the ETSETB. Two electronic designs have been made for both robots. Both circuits are designed to move the joints of the robots. In addition, a closed feedback has been incorporated into the joints to add more information on their position. The circuit is designed to make have a cabling complexity independent on the number of motors so that the design can be used for more complex future robots. To guarantee the operation of the circuit operation, a prototype has been implemented and tested.
